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Shape Tracking and Feedback Control of Cardiac Catheter Using MRI-Guided Robotic Platform—Validation With Pulmonary Vein Isolation Simulator in MRI

Ziyang Dong, Xiaomei Wang, Ge Fang, Zhuoliang He, Justin Di-Lang Ho, Chim-Lee Cheung, Wai Lun Tang, Xiaochen Xie, Liyuan Liang, Hing-Chiu Chang, Chi Keong Ching, Ka-Wai Kwok
2022 IEEE Transactions on robotics  
A learning-based modeling method is developed for cardiac catheters, which uses FBG-reconstructed three-dimensional curvatures for model initialization.  ...  The proposed modeling method was implemented on an MRI-guided robotic platform to achieve feedback control of a cardiac catheter.  ...  For 3-D curvature reconstruction, at least three cores are needed to estimate the two-degree-of-freedom (2-DoF) section bending along the fiber cross section.  ... 
doi:10.1109/tro.2022.3154691 fatcat:wtcabmbf7zgt7jeofsa7asqftm